/// <summary>
/// 检查通道信息是否有效
/// 建议在打开设备成功后调用
/// </summary>
public bool CheckAvalid(out string invalidInfo)
{
IJFDevice dev = null;
JFDevCellInfo ci = null;
return(CheckChannel(CellType, Name, out dev, out ci, out invalidInfo));
}
public int CaputreOneImage(string cmrName, string imageType, out HObject hObject, out string errMsg, int timeoutMilSwconds = -1)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
IJFImage image = null;
hObject = null;
errMsg = "";
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Cmr, cmrName, out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
IJFDevice_Camera cmr = (dev as IJFDevice_Camera);
cmr.ClearBuff();
int errCode = cmr.GrabOne(out image, timeoutMilSwconds);
if (errCode != (int)ErrorDef.Success)
{
errMsg = cmr.GetErrorInfo(errCode);
return(errCode);
}
if (GenImgObject(imageType, image, out hObject, out errMsg) != 0)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
protected override bool ActionGenuine(out string errorInfo)
{
string doName = GetMethodInputValue("DO通道名称") as string;
bool enabled = (bool)GetMethodInputValue("DO状态");
if (!JFHubCenter.Instance.MDCellNameMgr.ContainDoName(doName))
{
errorInfo = "参数项:\"DO通道名称\"的值:\"" + doName + "\"在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.DO, doName, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
int errCode = (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).SetDO(ci.ChannelIndex, enabled);
if (errCode != 0)
{
errorInfo = (enabled ? "打开" : "关闭") + "DO = " + doName + " 失败，" + (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
private void btNR_Click(object sender, EventArgs e)
{
if (cbMoveMode.SelectedIndex != 0) //未选中寸动模式
{
return;
}
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[3], out errInfo);
if (null == ci)
{
MessageBox.Show("R轴负向寸动失败！配置中没有通道信息，Name = \"" + _axisNames[3] + "\" ErrorInfo:" + errInfo);
return;
}
IJFModule_Motion md = (JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.RelMove(ci.ChannelIndex, -_dStepParam);
if (errCode != 0)
{
MessageBox.Show("R轴负向寸动失败！，AxisName = \"" + _axisNames[3] + "\" ErrorInfo:" + md.GetErrorInfo(errCode));
return;
}
ShowTips("R轴负向寸动OK");
}
/// <summary>
/// 停止XYZR轴的移动
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btStop_Click(object sender, EventArgs e)
{
bool isOK = true;
foreach (string axisName in _axisNames)
{
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(axisName, out errInfo);
if (null != ci)
{
IJFModule_Motion md = (JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.StopAxis(ci.ChannelIndex);
if (errCode != 0)
{
isOK = false;
ShowTips("停止轴:\"" + axisName + "\" 失败,Errornfo: " + md.GetErrorInfo(errCode));
}
}
else
{
isOK = false;
ShowTips("停止轴:\"" + axisName + "\" 失败,未找到通道信息 ");
}
if (isOK)
{
ShowTips("所有轴已停止");
}
}
}
/// <summary>
/// 软触发
/// </summary>
/// <param name="TrigChnName"></param>
/// <param name="errMsg"></param>
/// <returns></returns>
public int SWPosTrig(string[] TrigChnName, out string errMsg)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
errMsg = "";
if (TrigChnName.Length == 0)
{
errMsg = "触发通道名称为空";
return((int)ErrorDef.InvokeFailed);
}
int[] trigChns = new int[TrigChnName.Length];
for (int i = 0; i < TrigChnName.Length; i++)
{
if (!JFCMFunction.CheckDevCellName(JFCMFunction.CmpTrig, TrigChnName[i], out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
trigChns[i] = ci.ChannelIndex;
}
IJFModule_CmprTrigger md = (dev as IJFDevice_MotionDaq).GetCompareTrigger(ci.ModuleIndex);
int errCode = md.SoftTrigge(trigChns);
if (errCode != (int)ErrorDef.Success)
{
errMsg = md.GetErrorInfo(errCode);
return(errCode);
}
return((int)ErrorDef.Success);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
bool isPositive = (bool)GetInitParamValue("正向移动");
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.Jog(ci.ChannelIndex, isPositive);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
string diName = GetInitParamValue("DI通道名称") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainDiName(diName))
{
errorInfo = "DI通道名称:" + diName + " 在设备命名表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.DI, diName, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
bool isTurnOn = false;
int errCode = (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).GetDI(ci.ChannelIndex, out isTurnOn);
if (errCode != 0)
{
errorInfo = (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
SetOutputParamValue("DI状态", isTurnOn);
return(true);
}
public void SetAxisName(string axisName)
{
_axisName = axisName;
gbAxisName.Text = axisName;
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(axisName);
if (null == ci)
{
gbAxisName.Text += " 无通道信息";
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
gbAxisName.Text += " 无设备:" + ci.DeviceID;
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
if (!dev.IsDeviceOpen)
{
gbAxisName.Text += " 设备未打开";
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
if (dev.McCount <= ci.ModuleIndex)
{
gbAxisName.Text += " 模块Idx = :" + ci.ModuleIndex + " 超限";
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
if (ci.ChannelIndex >= md.AxisCount)
{
gbAxisName.Text += " 轴Idx = :" + ci.ChannelIndex + " 超限";
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
ucAxisTest.SetAxis(md, ci.ChannelIndex);
cbMode.Enabled = true;
btCfg.Enabled = true;
return;
}
void _UpdateTrig()
{
string[] allTrigDevs = JFHubCenter.Instance.InitorManager.GetIDs(typeof(IJFDevice_TrigController));
if (null == allTrigDevs || 0 == allTrigDevs.Length) //系统中不存在已命名的AI通道
{
ShowTips("设备列表中不存在触发设备！");
btAdd.Enabled = false;
}
else
{
btAdd.Enabled = true;
}
string[] chnNames = _station.TrigChannelNames;
if (null == chnNames || 0 == chnNames.Length)
{
btDel.Enabled = false;
return;
}
else//if(null != chnNames)
{
btDel.Enabled = true;
foreach (string chnName in chnNames)
{
DataGridViewRow row = new DataGridViewRow();
DataGridViewTextBoxCell cellName = new DataGridViewTextBoxCell();
cellName.Value = chnName;
DataGridViewTextBoxCell cellInfo = new DataGridViewTextBoxCell();
JFDevCellInfo chnCellInfo = JFHubCenter.Instance.MDCellNameMgr.GetTrigCtrlChannelInfo(chnName);
if (null == chnCellInfo)
{
cellName.Style.ForeColor = Color.Red;
cellInfo.Value = "无效的通道名称，在名称配置表中不存在！";
cellInfo.Style.ForeColor = Color.Red;
}
else
{
IJFDevice_TrigController trigDev = JFHubCenter.Instance.InitorManager.GetInitor(chnCellInfo.DeviceID) as IJFDevice_TrigController;
if (null == trigDev)
{
cellName.Style.ForeColor = Color.Red;
cellInfo.Value = "控制器在设备列表中不存在！";
cellInfo.Style.ForeColor = Color.Red;
}
else
{
cellInfo.Value = string.Format("控制器:{0} - 通道:{1}", chnCellInfo.DeviceID, chnCellInfo.ChannelIndex);
}
//cellInfo.Value = string.Format("控制器:{0} - 模块:{1} - 通道:{2}", devInfo.DeviceID, devInfo.ModuleIndex, devInfo.ChannelIndex);
}
row.Cells.Add(cellName);
row.Cells.Add(cellInfo);
dgvNameInfos.Rows.Add(row);
}
}
}
/// <summary>
/// 更新界面
/// </summary>
void AdjustView()
{
Controls.Clear();
_lstCmpTrigInfos.Clear();
_lstCmpTrigUcs.Clear();
if (null == _trigNames || 0 == _trigNames.Length)
{
return;
}
Point loc = new Point(5, 5);
for (int i = 0; i < _trigNames.Length; i++)
{
Label lbInfo = new Label();
lbInfo.AutoSize = true;
lbInfo.Text = _trigNames[i];
string errInfo;
JFDevCellInfo ci = CheckTrigDevInfo(_trigNames[i], out errInfo);
if (null == ci)
{
lbInfo.Text += " ,ErrorInfo:" + errInfo;
}
lbInfo.Location = loc; //lbInfo.Top = bottom;
loc.Y = lbInfo.Bottom; //bottom = lbInfo.Bottom +5;
Controls.Add(lbInfo);
_lstCmpTrigInfos.Add(lbInfo);
UcCmprTrgChn ucTrig = new UcCmprTrgChn();
if (null == ci)
{
ci = JFHubCenter.Instance.MDCellNameMgr.GetCmpTrigCellInfo(_trigNames[i]); //尝试使用命名表中的名称
if (ci == null)
{
ucTrig.SetModuleChn(null, 0, _trigNames[i] + ":无效通道名", null);
}
else
{
ucTrig.SetModuleChn(null, ci.ChannelIndex, _trigNames[i], null);
}
}
else
{
IJFModule_CmprTrigger md = (JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq).GetCompareTrigger(ci.ModuleIndex);
ucTrig.SetModuleChn(md, ci.ChannelIndex, _trigNames[i], null);
}
ucTrig.Location = loc;
ucTrig.BackColor = SystemColors.ActiveBorder;
Controls.Add(ucTrig);
_lstCmpTrigUcs.Add(ucTrig);
loc.Y = ucTrig.Bottom + 20;//bottom = ucTrig.Bottom + 10;
}
}
/// <summary>
/// 将轴状态更新到界面
/// </summary>
public void UpdateStationUI()
{
int i = 0;
if (null != _axisNames)
{
for (i = 0; i < _axisNames.Length; i++)
{
JFDevCellInfo dcInfo = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(_axisNames[i]);
if (dcInfo == null)
{
tbCurrPoses[i].Text = "无效值";
continue;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(dcInfo.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
tbCurrPoses[i].Text = "无效值";
continue;
}
if (dcInfo.ModuleIndex >= dev.McCount)
{
tbCurrPoses[i].Text = "无效值";
continue;
}
IJFModule_Motion md = dev.GetMc(dcInfo.ModuleIndex);
if (dcInfo.ChannelIndex >= md.AxisCount)
{
tbCurrPoses[i].Text = "无效值";
continue;
}
double pos = 0;
int errCode = md.GetFbkPos(dcInfo.ChannelIndex, out pos);
if (0 != errCode)
{
tbCurrPoses[i].Text = "获取错误！代码:" + errCode;
}
else
{
tbCurrPoses[i].Text = pos.ToString();
}
bool isServon = md.IsSVO(i);
btServons[i].LampColor = isServon ? LampButton.LColor.Green : LampButton.LColor.Gray;
}
}
for (; i < 4; i++)
{
tbCurrPoses[i].Text = "无效值";
btServons[i].LampColor = LampButton.LColor.Gray;
}
}
void DOButtonClicked(object sender, EventArgs eventArgs)
{
LampButton doBt = sender as LampButton;
string doName = doBt.Text;
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetDoCellInfo(doName);
if (ci == null) //名称在配置中不存在
{
ShowTips("DO操作失败:名称 \"" + doName + "\" 不存在");
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
ShowTips(string.Format("DO: \"{0}\" 操作失败:所属设备 \"{1}\" 在系统中不存在", doName, ci.DeviceID));
return;
}
if (!dev.IsDeviceOpen)
{
ShowTips(string.Format("DO \"{0}\" 操作失败:所属设备 \"{1}\" 未打开（关闭状态）", doName, ci.DeviceID));
return;
}
if (dev.DioCount <= ci.ModuleIndex)
{
ShowTips(string.Format("DO \"{0}\" 操作失败:所属设备 \"{1}\" 所属模块Index = {2} 超出范围0~{3}", doName, ci.DeviceID, ci.ModuleIndex, dev.DioCount == 0 ? 0 : dev.DioCount - 1));
return;
}
IJFModule_DIO md = dev.GetDio(ci.ModuleIndex);
if (md.DOCount <= ci.ChannelIndex)
{
ShowTips(string.Format("DO \"{0}\" 操作失败:通道序号:{1} 超出范围0~{2}", doName, ci.ChannelIndex, md.DOCount == 0 ? 0 : md.DOCount - 1));
return;
}
bool isON = false;
int errCode = md.GetDO(ci.ChannelIndex, out isON);
if (0 != errCode)
{
ShowTips(string.Format("DO \"{0}\" 操作失败:未能获取当前状态，信息:{1}", doName, md.GetErrorInfo(errCode)));
return;
}
errCode = md.SetDO(ci.ChannelIndex, !isON);
if (0 != errCode)
{
ShowTips(string.Format("DO \"{0}\" {1}操作失败:未能，信息:{2}", doName, isON?"关闭":"打开", md.GetErrorInfo(errCode)));
return;
}
}
void _UpdateCmpTrig()
{
JFDevCellNameManeger nameMgr = JFHubCenter.Instance.MDCellNameMgr;
if (null == nameMgr.AllCmpTrigNames() || 0 == nameMgr.AllCmpTrigNames().Length) //系统中不存在已命名的AI通道
{
ShowTips("系统配置中不存在已命名的CmpTrig通道！");
btAdd.Enabled = false;
}
else
{
btAdd.Enabled = true;
}
string[] cmpTrigNames = _station.CmpTrigNames;
if (null == cmpTrigNames || 0 == cmpTrigNames.Length)
{
btDel.Enabled = false;
return;
}
else//if(null != chnNames)
{
btDel.Enabled = true;
foreach (string cmpTrigName in cmpTrigNames)
{
DataGridViewRow row = new DataGridViewRow();
DataGridViewTextBoxCell cellName = new DataGridViewTextBoxCell();
cellName.Value = cmpTrigName;
DataGridViewTextBoxCell cellInfo = new DataGridViewTextBoxCell();
JFDevCellInfo devInfo = nameMgr.GetCmpTrigCellInfo(cmpTrigName);
if (null == devInfo)
{
cellName.Style.ForeColor = Color.Red;
cellInfo.Value = "无效的通道名称，在配置中不存在！";
cellInfo.Style.ForeColor = Color.Red;
}
else
{
cellInfo.Value = string.Format("控制器:{0} - 模块:{1} - 通道:{2}", devInfo.DeviceID, devInfo.ModuleIndex, devInfo.ChannelIndex);
}
row.Cells.Add(cellName);
row.Cells.Add(cellInfo);
dgvNameInfos.Rows.Add(row);
}
}
}
/// <summary>
/// 打开所有轴设备
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btOpenAllDev_Click(object sender, EventArgs e)
{
if (null == _station)
{
return;
}
string[] axisNames = _station.AxisNames;
if (null == axisNames || 0 == axisNames.Length)
{
ShowTips("工站 未提供轴/电机！");
return;
}
bool isOK = true;
foreach (string axisName in axisNames)
{
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(axisName);
if (null == ci)
{
isOK = false;
ShowTips("未发现轴 = \"" + axisName + "\"所属 通道信息！");
continue;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
isOK = false;
ShowTips("未发现轴 = \"" + axisName + "\"所属 设备ID = \"" + ci.DeviceID + "\"!");
continue;
}
if (!dev.IsDeviceOpen)
{
int errCode = dev.OpenDevice();
if (0 != errCode)
{
isOK = false;
ShowTips(string.Format("打开轴 = \"{0}\"所属设备=\"{1}\"失败，错误信息:{2}", axisName, ci.DeviceID, dev.GetErrorInfo(errCode)));
continue;
}
ShowTips(string.Format("轴 = \"{0}\"所属设备=\"{1}\"已打开 ", axisName, ci.DeviceID));
}
}
if (isOK)
{
ShowTips("所有轴设备已打开");
}
LayoutStation();
}
/// <summary>
/// 向UI更新工站的AI命名通道
/// </summary>
void _UpdateAI()
{
JFDevCellNameManeger nameMgr = JFHubCenter.Instance.MDCellNameMgr;
string[] allAIs = nameMgr.AllAiNames(); //系统中所有可用的AI命名通道
string[] aiNames = _station.AINames; //工站中已配置的AI通道
if (null == allAIs || 0 == allAIs.Length)
{
ShowTips("系统配置中不存在已命名的AI通道！");
btAdd.Enabled = false;
}
else
{
btAdd.Enabled = true;
}
if (null == aiNames || 0 == aiNames.Length)
{
btDel.Enabled = false;
return;
}
else//if(null != chnNames)
{
btDel.Enabled = true;
foreach (string aiName in aiNames)
{
DataGridViewRow row = new DataGridViewRow();
DataGridViewTextBoxCell cellName = new DataGridViewTextBoxCell();
cellName.Value = aiName;
DataGridViewTextBoxCell cellInfo = new DataGridViewTextBoxCell();
JFDevCellInfo devInfo = nameMgr.GetAiCellInfo(aiName);
if (null == devInfo)
{
cellName.Style.ForeColor = Color.Red;
cellInfo.Value = "无效的通道名称，在配置中不存在！";
cellInfo.Style.ForeColor = Color.Red;
}
else
{
cellInfo.Value = string.Format("控制器:{0} - 模块:{1} - 通道:{2}", devInfo.DeviceID, devInfo.ModuleIndex, devInfo.ChannelIndex);
}
row.Cells.Add(cellName);
row.Cells.Add(cellInfo);
dgvNameInfos.Rows.Add(row);
}
}
}
public void SetAxisName(string axisName)
{
//_isAxisEnabled = false;
_axisName = axisName;
gbAxisName.Text = _axisName;
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(_axisName);
if (ci == null)
{
gbAxisName.Text += " 轴名无效";
ucAxisStatus1.Enabled = false;
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
gbAxisName.Text += " 设备无效";
ucAxisStatus1.Enabled = false;
return;
}
if (!dev.IsDeviceOpen)
{
gbAxisName.Text += " 设备未打开";
ucAxisStatus1.Enabled = false;
return;
}
if (ci.ModuleIndex >= dev.McCount)
{
gbAxisName.Text += " 模块号无效";
ucAxisStatus1.Enabled = false;
return;
}
IJFModule_Motion mm = dev.GetMc(ci.ModuleIndex);
if (ci.ChannelIndex >= mm.AxisCount)
{
gbAxisName.Text += " 轴序号无效";
ucAxisStatus1.Enabled = false;
return;
}
ucAxisStatus1.Enabled = true;
ucAxisStatus1.SetAxis(mm, ci.ChannelIndex);
//_isAxisEnabled = true;
}
private void btCfgR_Click(object sender, EventArgs e)
{
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[3], out errInfo);
if (null == ci)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" 未能显示参数配置窗口，ErrorInfo:" + errInfo);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
FormAxisTest fm = new FormAxisTest();
fm.SetAxisInfo(md, ci.ChannelIndex, _axisNames[3]);
fm.ShowDialog();
}
void CheckAxis(int index)
{
if (string.IsNullOrEmpty(_axisNames[index]))
{
ShowTips(_AxisAlias[index] + " 未设置/已禁用");
AxisEnabled(index, false);
return;
}
JFDevCellInfo dcInfo = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(_axisNames[index]);
if (null == dcInfo)
{
ShowTips(_AxisAlias[index] + "对应轴名称：\"" + _axisNames[index] + "\"在设备命名表中不存在!");
AxisEnabled(index, false);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(dcInfo.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
ShowTips(string.Format("{0}对应轴：\"{1}\"所属设备\"{2}\"不存在!", _AxisAlias[index], _axisNames[index], dcInfo.DeviceID));
AxisEnabled(index, false);
return;
}
if (!dev.IsDeviceOpen)
{
ShowTips(string.Format("{0}对应轴：\"{1}\"所属设备\"{2}\"未打开!", _AxisAlias[index], _axisNames[index], dcInfo.DeviceID));
AxisEnabled(index, false);
return;
}
if (dcInfo.ModuleIndex >= dev.McCount)
{
ShowTips(string.Format("{0} 对应轴名称：\"{1}\"所属模块序号{2}超限 (0~{3}) !", _AxisAlias[index], _axisNames[index], dcInfo.ModuleIndex, dev.McCount - 1));
AxisEnabled(index, false);
return;
}
IJFModule_Motion md = dev.GetMc(dcInfo.ModuleIndex);
if (dcInfo.ChannelIndex >= md.AxisCount)
{
ShowTips(string.Format("{0} 对应轴名称：\"{1}\"所属轴序号{2}超限 (0~{3}) !", _AxisAlias[index], _axisNames[index], dcInfo.ChannelIndex, md.AxisCount - 1));
AxisEnabled(index, false);
return;
}
AxisEnabled(index, true);
}
/// <summary>
/// 显示轴配置/调试窗口
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btCfg_Click(object sender, EventArgs e)
{
FormAxisTest fm = new FormAxisTest();
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(_axisName);
if (null == ci)
{
gbAxisName.Text += " 无通道信息";
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
//if(null == dev)
//{
// gbAxisName.Text += " 无设备:" + ci.DeviceID;
// ucAxisTest.SetAxis(null, 0);
// cbMode.Enabled = false;
// btCfg.Enabled = false;
// return;
//}
//if(!dev.IsDeviceOpen)
//{
// gbAxisName.Text += " 设备未打开" ;
// ucAxisTest.SetAxis(null, 0);
// cbMode.Enabled = false;
// btCfg.Enabled = false;
// return;
//}
//if(dev.McCount <= ci.ModuleIndex)
//{
// gbAxisName.Text += " 模块Idx = :" + ci.ModuleIndex + " 超限";
// ucAxisTest.SetAxis(null, 0);
// cbMode.Enabled = false;
// btCfg.Enabled = false;
// return;
//}
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
fm.SetAxisInfo(md, ci.ChannelIndex, _axisName);
fm.ShowDialog();
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int err = 0;
bool IsServoOn = (bool)GetInitParamValue("轴是否励磁");
if (IsServoOn)
{
err = md.ServoOn(ci.ChannelIndex);
}
else
{
err = md.ServoOff(ci.ChannelIndex);
}
if (err != 0)
{
errorInfo = (IsServoOn ? "励磁使能ON" : "励磁使能OFF") + "失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
/// <summary>
/// 只是获取通道对应的设备，不做安全性检查（如通道序号是否合法/设备是否已经打开...）
/// </summary>
/// <returns></returns>
public IJFDevice Device()
{
JFDevCellInfo ci = CellInfo();
if (null == ci)
{
return(null);
}
IJFInitializable initor = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID);
switch (CellType)
{
case JFDevCellType.DI:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.DO:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.Axis:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.AI:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.AO:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.CmpTrig:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.Light:
return(initor as IJFDevice_LightController);
case JFDevCellType.Trig:
return(initor as IJFDevice_TrigController);
default:
break;
}
return(null);
}
private void btHomeR_Click(object sender, EventArgs e)
{
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[3], out errInfo);
if (null == ci)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" Home操作失败，ErrorInfo:" + errInfo);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
int errCode = md.Home(ci.ChannelIndex);
if (0 != errCode)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" Home操作失败，ErrorInfo:" + md.GetErrorInfo(errCode));
return;
}
ShowTips("R轴:\"" + _axisNames[3] + "\" Home运动开始");
}
void OnServonButtonClicked(object sender, EventArgs e)
{
int i = 0;
for (i = 0; i < btServons.Length; i++)
{
if (sender == btServons[i])
{
break;
}
}
string axisName = _axisNames[i];
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(axisName, out errInfo);
if (null == ci)
{
MessageBox.Show("轴" + _axisNames[i] + "伺服操作失败，ErrorInfo:" + errInfo);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
bool isCurrSerOn = md.IsSVO(ci.ChannelIndex);
int errCode = 0;
if (isCurrSerOn)
{
errCode = md.ServoOff(ci.ChannelIndex);
}
else
{
errCode = md.ServoOn(ci.ChannelIndex);
}
if (errCode != 0)
{
MessageBox.Show("轴" + _axisNames[i] + "伺服操作失败，ErrorInfo:" + md.GetErrorInfo(errCode));
return;
}
ShowTips("轴" + _axisNames[i] + "伺服" + (isCurrSerOn?"去使能":"使能") + "成功");
}
public int ClearImageQueue(string cmrName, out string errMsg)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
errMsg = "";
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Cmr, cmrName, out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
IJFDevice_Camera cmr = (dev as IJFDevice_Camera);
int errCode = cmr.ClearBuff();
if (errCode != (int)ErrorDef.Success)
{
errMsg = cmr.GetErrorInfo(errCode);
return(errCode);
}
return((int)ErrorDef.Success);
}
private void btAbsMoveR_Click(object sender, EventArgs e)
{
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[3], out errInfo);
if (null == ci)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" 定位操作失败，ErrorInfo:" + errInfo);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
double tgtPos = Convert.ToDouble(numAbsCmdR.Value);
int errCode = md.AbsMove(ci.ChannelIndex, tgtPos);
if (errCode != 0)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" 定位操作失败，ErrorInfo:" + md.GetErrorInfo(errCode));
return;
}
ShowTips("R轴:\"" + _axisNames[3] + "\" 开始移动到 ：" + tgtPos);
}
protected override bool ActionGenuine(out string errorInfo)
{
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
//if(!md.IsSVO(ci.ChannelIndex)) //HTM控制卡在未上电时，调用Stop会异常退出
//{
// errorInfo = "\"轴ID\" = " + axisID + " 未励磁";
// SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
// return true;
//}
int errCode = md.StopAxis(ci.ChannelIndex);
if (errCode != 0)
{
errorInfo = md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
/// <summary>
/// 停止连续运动X
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btPX_MouseUp(object sender, MouseEventArgs e)
{
if (cbMoveMode.SelectedIndex != 1) //未选中连续模式
{
return;
}
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[0], out errInfo);
if (null == ci)
{
return;
}
IJFModule_Motion md = (JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.StopAxis(ci.ChannelIndex);
if (errCode != 0)
{
ShowTips("X轴停止运动失败！Name = \"" + _axisNames[0] + "\" ErrorInfo:" + errInfo);
return;
}
ShowTips("X轴已停止");
}
private void btPY_MouseDown(object sender, MouseEventArgs e)
{
if (cbMoveMode.SelectedIndex != 1) //未选中连续模式
{
return;
}
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[1], out errInfo);
if (null == ci)
{
MessageBox.Show("Y轴正向连续运动失败！配置中没有通道信息，Name = \"" + _axisNames[1] + "\" ErrorInfo:" + errInfo);
return;
}
IJFModule_Motion md = (JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.VelMove(ci.ChannelIndex, _dVelParam, true);
if (errCode != 0)
{
MessageBox.Show("Y轴正向连续运动失败！Name = \"" + _axisNames[1] + "\" ErrorInfo:" + errInfo);
return;
}
}
JFDevCellInfo CheckTrigDevInfo(string trigName, out string errorInfo)
{
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetCmpTrigCellInfo(trigName); //在命名表中的通道信息
if (null == ci)
{
errorInfo = "未找到设备信息";
return(null);
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
errorInfo = "未找到所属设备:\"" + ci.DeviceID + "\"";
return(null);
}
if (!dev.IsDeviceOpen)
{
errorInfo = "所属设备:\"" + ci.DeviceID + "\"未打开";
return(null);
}
if (ci.ModuleIndex >= dev.McCount)
{
errorInfo = "模块序号:\"" + ci.ModuleIndex + "\"超出限制!";
return(null);
}
IJFModule_CmprTrigger md = dev.GetCompareTrigger(ci.ModuleIndex);
if (ci.ChannelIndex >= md.EncoderChannels)
{
errorInfo = "通道序号:\"" + ci.ChannelIndex + "\"超出限制!";
return(null);
}
errorInfo = "";
return(ci);
}
